Norm Optimal Cross-Coupled Iterative Learning Control

Kira Barton, Jeroen Van De Wijdeven, Andrew Alleyne, Okko Bosgra, Maarten Steinbuch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we focus on improving contour tracking in precision motion control (PMC) applications through the use of Cross-Coupled Iterative Learning Control (CCILC). Initially, the relationship between individual axis errors and contour error is discussed, including insights into the different reasons for implementing CCILC versus individual axis ILC. A Norm Optimal (N.O.) framework is used to design optimal learning filters based on design objectives. The general N.O. Framework is reformatted to include the contour error, as well as individual axis errors. General guidelines for tuning the different weighting matrices are presented. The weighting approach of this framework enables one to focus on individual axis or contour tracking independently. The performance benefits of N.O. CCILC versus ILC are illustrated through simulation and experimental testing on a multi-axis robotic testbed.

Original languageEnglish (US)
Title of host publicationProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Pages3020-3025
Number of pages6
DOIs
StatePublished - Dec 1 2008
Event47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: Dec 9 2008Dec 11 2008

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other47th IEEE Conference on Decision and Control, CDC 2008
CountryMexico
CityCancun
Period12/9/0812/11/08

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Barton, K., Van De Wijdeven, J., Alleyne, A., Bosgra, O., & Steinbuch, M. (2008). Norm Optimal Cross-Coupled Iterative Learning Control. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008 (pp. 3020-3025). [4738973] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2008.4738973